﻿<?xml version="1.0" encoding="utf-8"?>
<SRF08SonarAsBumperState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://www.robot-electronics.co.uk/2006/10/srf08sonarasbumper.html">
  <Sensors xmlns="http://schemas.microsoft.com/2006/06/contactsensor.html">
    <ContactSensor>
      <Name>Default Sonar As Bumper 0</Name>
      <HardwareIdentifier>224</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
  </Sensors>
  <Thresholds>
    <int>20</int>
  </Thresholds>
  <DistanceMeasurements>
    <int>1000</int>
  </DistanceMeasurements>
</SRF08SonarAsBumperState>